diff --git a/.gitattributes b/.gitattributes
index 91ccd51..e69de29 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1 +0,0 @@
-*.mcap filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
index e56d0d6..edb0bc7 100644
--- a/README.md
+++ b/README.md
@@ -46,21 +46,13 @@ For file-processing:
 For more details on the features and how to use them, take a look at the [documentation](https://TUMFTM.github.io/PointCloudCrafter) hosted on GitHub Pages:  
 [**https://TUMFTM.github.io/PointCloudCrafter**](https://TUMFTM.github.io/PointCloudCrafter)
 
-<h2> Cloning without test data (recommended) </h2>
+<h2> Test Data </h2>
 
-This repository uses Git LFS for large test files (22 MB).
-Most users do not need them.
+Download ROS2 test data from an external repository.
 
-Clone without downloading LFS files:
-
-```bash
-    GIT_LFS_SKIP_SMUDGE=1 git clone https://github.com/TUMFTM/PointCloudCrafter.git
 ```
-
-To download them later:
-
-```bash
-    git lfs pull
+git clone https://github.com/ga58lar/rosbag-test.git /tmp/rosbag-test
+mv /tmp/rosbag-test/tests /path/to/pointcloudcrafter-root/.
 ```
 
 ## Contact
diff --git a/tests/rosbag/README.md b/tests/rosbag/README.md
new file mode 100644
index 0000000..bb7884c
--- /dev/null
+++ b/tests/rosbag/README.md
@@ -0,0 +1,8 @@
+Download rosbag data from https://github.com/ga58lar/rosbag-test
+
+```
+git clone https://github.com/ga58lar/rosbag-test.git /tmp/rosbag-test
+mv /tmp/rosbag-test/tests /path/to/pointcloudcrafter-root/.
+```
+
+For futher information, see [Issue #43](https://github.com/TUMFTM/PointCloudCrafter/issues/43)
\ No newline at end of file
diff --git a/tests/rosbag/metadata.yaml b/tests/rosbag/metadata.yaml
deleted file mode 100644
index 841b9cd..0000000
--- a/tests/rosbag/metadata.yaml
+++ /dev/null
@@ -1,45 +0,0 @@
-rosbag2_bagfile_information:
-  version: 5
-  storage_identifier: ""
-  duration:
-    nanoseconds: 149900156
-  starting_time:
-    nanoseconds_since_epoch: 1756285989513751040
-  message_count: 13
-  topics_with_message_count:
-    - topic_metadata:
-        name: /edgar/sensor/lidar/innovusion/frontcenter/points
-        type: sensor_msgs/msg/PointCloud2
-        serialization_format: cdr
-        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 2\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
-      message_count: 3
-    - topic_metadata:
-        name: /edgar/sensor/lidar/innovusion/rearcenter/points
-        type: sensor_msgs/msg/PointCloud2
-        serialization_format: cdr
-        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 2\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
-      message_count: 3
-    - topic_metadata:
-        name: /edgar/sensor/lidar/ouster/frontleft/points
-        type: sensor_msgs/msg/PointCloud2
-        serialization_format: cdr
-        offered_qos_profiles: "- history: 1\n  depth: 5\n  reliability: 2\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
-      message_count: 3
-    - topic_metadata:
-        name: /edgar/sensor/lidar/ouster/frontright/points
-        type: sensor_msgs/msg/PointCloud2
-        serialization_format: cdr
-        offered_qos_profiles: "- history: 1\n  depth: 5\n  reliability: 2\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
-      message_count: 3
-    - topic_metadata:
-        name: /tf_static
-        type: tf2_msgs/msg/TFMessage
-        serialization_format: cdr
-        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
-      message_count: 1
-  compression_format: ""
-  compression_mode: ""
-  relative_file_paths:
-    - rosbag_0.mcap
-  files:
-    []
\ No newline at end of file
diff --git a/tests/rosbag/rosbag_0.mcap b/tests/rosbag/rosbag_0.mcap
deleted file mode 100644
index d0120c8..0000000
--- a/tests/rosbag/rosbag_0.mcap
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2cdfdd58b12bde3003931334fcb340f3da7f892ffb78fee9f83ea3bb3e94d235
-size 21341563